INTRODUCTION

This project implements obstacle avoidance and goal-directed navigation for a differential drive robot in ROS 2 Jazzy using the Artificial Potential Fields (APF) algorithm.

The robot is simulated in Gazebo Harmonic, equipped with a LiDAR sensor, and controlled via a custom APF-based controller node.

USAGE

Clone the repository

• cd ~/ros2_ws/src
• git clone https://github.com/BlackkBeardd/apf_obstacle_avoidance.git
• cd ..
• colcon build
• source install/setup.bash

Launch gazebo with robot

ros2 launch diff_drive_description gazebo.launch.py

Start the apf controller

ros2 launch diff_drive_control apf.launch.py

Tuning and goal position

Set the goal position and tune the parameters in config/apf.yaml

LIMITATIONS

• The robot sucessfully avoids obstacles using the artificial potential fields.
• However, the robot does not converge to the goal point. It keeps moving around the obstacles without stopping at the target.
• This is a known limitation of the APF approach where the robot gets stuck in the local minima.

POSSIBLE IMPROVEMENTS

• Combine APF with A* planner